#include <base_module.h>

Inheritance diagram for thormang3::BaseModule:

Public Member Functions
	BaseModule ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

void	initPoseMsgCallback (const std_msgs::String::ConstPtr &msg)

void	initPoseTrajGenerateProc ()

bool	isRunning ()

void	poseGenerateProc (Eigen::MatrixXd joint_angle_pose)

void	poseGenerateProc (std::map< std::string, double > &joint_angle_pose)

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	stop ()

virtual	~BaseModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

virtual void	onModuleDisable ()

virtual void	onModuleEnable ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Public Attributes
BaseModuleState *	base_module_state_

BaseJointState *	joint_state_

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Private Member Functions
void	parseIniPoseData (const std::string &path)

void	publishDoneMsg (const std::string done_msg)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	setCtrlModule (std::string module)

Private Attributes
int	control_cycle_msec_

bool	has_goal_joints_

bool	ini_pose_only_

std::map< std::string, int >	joint_name_to_id_

ros::Publisher	movement_done_pub_

boost::thread	queue_thread_

ros::Publisher	set_ctrl_module_pub_

ros::Publisher	status_msg_pub_

boost::thread	tra_gene_tread_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule >
static void	destroyInstance ()

static T *	getInstance ()

Protected Member Functions inherited from robotis_framework::Singleton< BaseModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 71 of file base_module.h.

Constructor & Destructor Documentation

BaseModule::BaseModule ( )

Definition at line 34 of file base_module.cpp.

BaseModule::~BaseModule ( )

virtual

Definition at line 130 of file base_module.cpp.

Member Function Documentation

void BaseModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 135 of file base_module.cpp.

void BaseModule::initPoseMsgCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 238 of file base_module.cpp.

void BaseModule::initPoseTrajGenerateProc ( )

Definition at line 265 of file base_module.cpp.

bool BaseModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 377 of file base_module.cpp.

void BaseModule::parseIniPoseData ( const std::string & path )

private

Definition at line 149 of file base_module.cpp.

void BaseModule::poseGenerateProc ( Eigen::MatrixXd joint_angle_pose )

Definition at line 299 of file base_module.cpp.

void BaseModule::poseGenerateProc ( std::map< std::string, double > & joint_angle_pose )

Definition at line 331 of file base_module.cpp.

void BaseModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 382 of file base_module.cpp.

void BaseModule::publishDoneMsg ( const std::string done_msg )

private

Definition at line 478 of file base_module.cpp.

void BaseModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 467 of file base_module.cpp.

void BaseModule::queueThread ( )

private

Definition at line 221 of file base_module.cpp.

void BaseModule::setCtrlModule ( std::string module )

private

Definition at line 459 of file base_module.cpp.

void BaseModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 454 of file base_module.cpp.

Member Data Documentation

BaseModuleState* thormang3::BaseModule::base_module_state_

Definition at line 94 of file base_module.h.

int thormang3::BaseModule::control_cycle_msec_

private

Definition at line 105 of file base_module.h.

bool thormang3::BaseModule::has_goal_joints_

private

Definition at line 117 of file base_module.h.

bool thormang3::BaseModule::ini_pose_only_

private

Definition at line 118 of file base_module.h.

std::map<std::string, int> thormang3::BaseModule::joint_name_to_id_

private

Definition at line 115 of file base_module.h.

BaseJointState* thormang3::BaseModule::joint_state_

Definition at line 95 of file base_module.h.

ros::Publisher thormang3::BaseModule::movement_done_pub_

private

Definition at line 113 of file base_module.h.

boost::thread thormang3::BaseModule::queue_thread_

private

Definition at line 107 of file base_module.h.

ros::Publisher thormang3::BaseModule::set_ctrl_module_pub_

private

Definition at line 112 of file base_module.h.

ros::Publisher thormang3::BaseModule::status_msg_pub_

private

Definition at line 111 of file base_module.h.

boost::thread thormang3::BaseModule::tra_gene_tread_

private

Definition at line 108 of file base_module.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation